Cartridge picker robot with ribbon cable for cartridge library

ABSTRACT

A robotic cartridge picker ( 92 ) for a cartridge library ( 20 ) has picker fingers ( 84 ) for selecting engaging and disengaging a media cartridge ( 64 ), and an electronic device ( 180 ) carried thereon. A ribbon cable ( 182 ) supplies at least one of power and an electrical signal to the electronic device. The robotic picker is rotatably mounted on a mounting block ( 140 ). The mounting block has a chamber ( 188 ) wherein a portion of the ribbon cable is carried in a variable coiled configuration to accommodate rotation of the robot about an axis ( 100 ). The variable coiled configuration facilitates the ribbon cable having a first degree of coiling when the picker robot rotates to a first position and a second degree of coiling when the picker robot rotates to a second position.

This application is related to the following simultaneously-filed U.S.Patent Applications (all of which are incorporated herein by referencein their entirety):

U.S. patent application Ser. No. 09/708,433, entitled “CARTRIDGELIBRARY”;

U.S. patent application Ser. No. 09/708,739, entitled “CARTRIDGEOVERINSERTION PROTECTION FOR CARTRIDGE LIBRARY”;

U.S. patent application Ser. No. 09/708,739, entitled “ADJUSTABLEMOUNTING FOR BARCODE READER WITH BACKLASH PREVENTION”;

U.S. Design patent application Ser. No. 29/132,408, entitled “CARTRIDGELIBRARIES”;

U.S. Design patent application Ser. No. 29/132,407, entitled “CARTRIDGEMAGAZINE”.

BACKGROUND

1. Field of the Invention

The present invention pertains to the storage of information, andparticularly to automated cartridge handling systems such as cartridgelibraries which store cartridges or cassettes of magnetic tape.

2. Related Art and Other Considerations

In the early days of computers, information requiring storage could betransmitted from a computer to a tape drive, whereat the information wasmagnetically recorded on or read from a large reel of tape. Uponcompletion of an operation of recording on the tape, for example, thereel would be removed manually from the tape drive and mounted in arack. Another reel from the rack could then be manually mounted, ifnecessary, in the drive for either an input (tape reading) or output(recording to tape) operation.

Eventually it became popular to enclose magnetic tape in a cartridge,the cartridge being considerably smaller than the traditional tapereels. While many persons are familiar with tape cartridges of a typewhich can be loaded into a “tape deck” for reproduction of audioinformation (e.g., music), it is not as commonly realized that similarcartridges, although of differing sizes, can be used to store suchinformation as computer data. For years now magnetic tape cartridgeshave proven to be an efficient and effective medium for data storage,including but not limited to computer back-up.

Large computer systems have need to access numerous cartridges. To thisend, automated cartridge handling systems or libraries for cartridgeshave been proposed for making the cartridges automatically available tothe computer. Many of these automated libraries resemble juke boxes.Typically, prior art automated cartridge libraries have an array ofstorage positions for cartridges, one or more tape drives, and some typeof automated changer or cartridge engagement/transport mechanism forpicking or gripping a cartridge and moving the cartridge between astorage position and the tape drive.

Important to the automation of cartridge libraries as previously knownhas been the provision of the cartridge changer or cartridgeengagement/transport mechanism for picking or gripping a cartridge andmoving the cartridge between a storage position and the tape drive. Suchrotobic mechanisms, often called a cartridge “picker” or “gripper”, istypically mounted in a library frame in order to introduce and removecartridges relative to one or more stationary drives. The stationarydrive and the picker are mounted to the same basic frame structure ofthe library, but otherwise are structurally independent.

The following U.S. patents and patent applications, all commonlyassigned herewith and incorporated herein by reference, disclose variousconfigurations of automated cartridge libraries, as well assubcomponents thereof (including cartridge engagement/transportmechanisms, entry/exit ports, and storage racks for housing cartridges):

U.S Pat. No. 4,984,106 to Herger et al., entitled “CARTRIDGE LIBRARYSYSTEM AND METHOD OF OPERATION THEREOF”.

U.S. Pat. No. 4,972,277 to Sills et al., entitled “CARTRIDGE TRANSPORTASSEMBLY AND METHOD OF OPERATION THEREOF”.

U.S. Pat. No. 5,059,772 to Younglove, entitled “READING METHOD ANDAPPARATUS FOR CARTRIDGE LIBRARY”.

U.S. Pat. No. 5,103,986 to Marlowe, entitled “CARTRIDGE RACK”.

U.S. Pat. Nos. 5,237,467 and 5,416,653 to Marlowe, entitled “CARTRIDGEHANDLING APPARATUS AND METHOD WITH MOTION-RESPONSIVE EJECTION”.

U.S. Pat. No. 5,498,116 to Woodruff et al., entitled “ENTRY-EXIT PORTFOR CARTRIDGE LIBRARY”.

U.S. Pat. No. 5,487,579 to Woodruff et al., entitled PICKER MECHANISMFOR DATA CARTRIDGES”.

U.S. Pat. No. 5,718,339 to Woodruff et al., entitled “CARTRIDGE RACK ANDLIBRARY FOR ENGAGING SAME”.

U.S. Pat. No. 5,739,978, entitled “CARTRIDGE HANDLING SYSTEM WITH MOVINGI/O DRIVE”.

U.S. Pat. No. 6,008,964, entitled “CARTRIDGE LIBRARY AND METHOD OFOPERATION THEREOF”.

U.S. patent application Ser. No. 08/970,205, entitled “CARTRIDGE LIBRARYWITH CARTRIDGE LOADER MOUNTED ON MOVEABLE DRIVE ASSEMBLY”.

U.S. patent application Ser. No. 09/121,541, entitled “CARTRIDGE LIBRARYAND METHOD OF OPERATION”.

U.S. Pat. No. 6,005,745 application Ser. No. 09/121,816, entitled“CARTRIDGE LIBRARY WITH ENTRY/EXIT PORT AND METHOD OF OPERATIONTHEREOF”.

U.S. patent application Ser. No. 09/121,819, entitled “CARTRIDGE LIBRARYAND METHOD OF OPERATION”.

U.S. patent application Ser. No. 09/121,966, entitled “CARTRIDGEMAGAZINE AND LIBRARY EMPLOYING SAME”.

U.S. patent application Ser. No. 09/121,817, entitled “DRIVE CARRIER ANDCARTRIDGE LIBRARY EMPLOYING SAME”.

Often in a cartridge library a picker (e.g., cartridge transport unit)rotates in order to transport a cartridge or cassette of media between adrive and a cartridge storage location (e.g., a cartridge magazine).Since the picker may have electronics mounted thereon, such as a barcodereader (for example), cables to the electronics must not be adverselyimpacted by the rotation, nor should the cables obstruct or otherwiseinterfere with rotation and operation of the picker.

What is need therefore, and an object of the present invention, ismethod and apparatus for handling cabling to electrical devices on apicker in a manner compatible with operation of a cartridge library.

BRIEF SUMMARY OF THE INVENTION

A robotic cartridge picker for a cartridge library has picker fingersfor selecting engaging and disengaging a media cartridge, and anelectronic device carried thereon. A ribbon cable supplies at least oneof power and an electrical signal to the electronic device. The roboticpicker is rotatably mounted on a mounting block. The mounting block hasa chamber wherein a portion of the ribbon cable is carried in a variablecoiled configuration to accommodate rotation of the robot about an axis.The variable coiled configuration facilitates the ribbon cable having afirst degree of coiling when the picker robot rotates to a firstposition and a second degree of coiling when the picker robot rotates toa second position.

In an illustrated example embodiment, the mounting block is a carriagewhich linearly translates with the picker robot. The chamber iscylindrical and concentric with an axis of rotation of the picker robot.The chamber has a circumferential aperture through which the ribboncable enters the chamber. The aperture is elongated in a directionparallel to the axis of rotation of the picker robot. The mounting blockhas a bulbous protrusion proximate the aperture. A secures a portion ofthe ribbon cable to the mounting block at the bulbous protrusion. Theribbon cable exits the chamber in a direction parallel to the axis ofrotation of the picker robot. Moreover, in the illustrated exampleembodiment, the mounting block includes a gear for translating rotationof a shaft extending through the mounting block into rotational motionof the picker robot.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other objects, features, and advantages of theinvention will be apparent from the following more particulardescription of preferred embodiments as illustrated in the accompanyingdrawings in which reference characters refer to the same partsthroughout the various views. The drawings are not necessarily to scale,emphasis instead being placed upon illustrating the principles of theinvention.

FIG. 1 is a front isometric view of a cartridge library according to anembodiment of the invention, with a library door closed.

FIG. 2 is a top view of the cartridge library of FIG. 1 with coverremoved and door open.

FIG. 3 is a sectional view taken along line 3—3 of FIG. 2, particularlyshowing a front section of the cartridge library of FIG. 2.

FIG. 4 is a sectional view taken along line 4—4 of FIG. 2, particularlyshowing a rear section of the cartridge library of FIG. 2.

FIG. 5-1 is a left side perspective view of a cartridge transportassembly and mounting block included in the cartridge library of FIG. 2.

FIG. 5-2 is a top right side perspective view including the mountingblock of FIG. 5-1, without a ribbon cable.

FIG. 5-3 is a top right side perspective view including the mountingblock of FIG. 5-1, with a ribbon cable.

FIG. 5-4 is a detailed perspective view showing folding of a ribboncable for exiting from the mounting block of FIG. 5-1.

FIG. 5-5 is a top view showing a first degree of coiling of a ribboncable within the mounting block of FIG. 5-1 when a cartridge transportassembly is in a first position.

FIG. 5-6 is a top view showing a second degree of coiling of a ribboncable within the mounting block of FIG. 5-1 when a cartridge transportassembly is in a second position.

FIG. 6 is a front view of a frame front wall of the cartridge library ofFIG. 1, with door open.

FIG. 7-1 is a front perspective view of a cartridge magazine accordingto an example embodiment of the invention.

FIG. 7-2 is a perspective view of a magazine lid for the cartridgemagazine of FIG. 7-1.

FIG. 7-3 is a perspective view of a magazine body for the cartridgemagazine of FIG. 7-1.

FIG. 7-4 is rear, bottom perspective view of the cartridge magazine ofFIG. 7-1.

FIG. 7-5 is a side perspective view showing a hinged opening of amagazine lid relative to a magazine body for the cartridge magazine ofFIG. 7-1.

FIG. 8-1 through FIG. 8-3 are left side views of a library front sectionwith library cover removed, for illustrating successive stages ofoperation of a cartridge restraint assembly according to an embodimentof one aspect of the present invention.

FIG. 9-1 is a front, left side perspective view of a entry/exit portmodule in accordance with an example embodiment of the invention for usein the cartridge library of FIG. 1.

FIG. 9-2 is a front, left side perspective view of the entry/exit portmodule of FIG. 9-1, but showing a entry/exit port cover open.

FIG. 9-3 is a rear, left side perspective view of the entry/exit portmodule of FIG. 9-1.

FIG. 9-4 is a right side, perspective view of the entry/exit port moduleof FIG. 9-1, showing insertion of a entry/exit port caddy into aentry/exit port housing.

FIG. 9-5 is a front perspective view of the entry/exit port module ofFIG. 9-1, also showing insertion of the entry/exit port caddy into theentry/exit port housing.

FIG. 9-6 is a top view showing the entry/exit port module of FIG. 9-1,and particularly showing a cartridge limit finger in its cartridgerestraint position.

FIG. 9-7 is a top view showing the entry/exit port module of FIG. 9-1,and particularly showing a cartridge limit finger moved by a cartridgetransport assembly to a clearance position.

FIG. 9-8 is a rear perspective view showing the entry/exit port moduleof FIG. 9-1, and also showing the cartridge limit finger moved by acartridge transport assembly to a clearance position.

FIG. 10-1 is a top cross sectioned view of a cartridge transportassembly in accordance with an example embodiment of the invention,particularly showing location of a barcode reader assembly.

FIG. 10-2 is a perspective view of the barcode reader assembly includedin the cartridge transport assembly of FIG. 10-1.

FIG. 10-3 is a side sectioned view of the barcode reader assembly.

FIG. 10-4 is an exploded view of the barcode reader assembly.

DETAILED DESCRIPTION

In the following description, for purposes of explanation and notlimitation, specific details are set forth such as particulararchitectures, interfaces, techniques, etc. in order to provide athorough understanding of the present invention. However, it will beapparent to those skilled in the art that the present invention may bepracticed in other embodiments that depart from these specific details.In other instances, detailed descriptions of well known devices,circuits, and methods are omitted so as not to obscure the descriptionof the present invention with unnecessary detail.

FIG. 1 shows an exterior of a cartridge library 20. The cartridgelibrary 20 has a generally solid rectangular shape imparted by a framewhich includes a frame front wall 22 and a frame back wall 24. Thecartridge library 20 has its sides and top enclosed by a library cover26. The frame front wall 22 has a door 30 hinged thereto along the framebottom, and an entry/exit port cover 32 located on its right side. Inaddition, frame front wall 22 at its top has a display screen 34 and acontrol button console 36. Views of other sides of cartridge library 20can be seen in U.S. Design patent application Ser. No. 29/132,408,entitled “CARTRIDGE LIBRARIES”, which is incorporated herein byreference.

In FIG. 2 the cartridge library 20 is seen from above with its librarycover 26 removed and its door 30 open. Various aspects of the libraryframe are visible in FIG. 2, including the previously mentioned framefront wall 22 and frame back wall 24, as well as frame left side wall40, frame right side wall 41, frame left side rail 42, frame right siderail 44, and library floor 46. The cartridge library 20 has a widthdimension taken along the Y axis of FIG. 2, a depth dimension takenalong the X axis of FIG. 2, and a height taken along the Z axis of FIG.2 (e.g., perpendicular to the plane of the sheet of FIG. 2).

Within the rectangular enclosure defined by the library frame areseveral compartments or modules which are also visible, at least inpart, in FIG. 2. These compartments or modules include a magazine cavity50 (which accommodates cartridge magazines 52); entry/exit port module54; a drive region which includes drive carrier modules 56; and, controlcompartment 58. In the illustrated embodiment, the magazine cavity 50accommodates two cartridge magazines 52, and two drive carrier modules56 are provided in the drive region. Each of the drive carrier modules56 can contain none, one, or two drives 60, the particular library shownin FIG. 2 being filled to capacity with four such drives 60. The drives60 perform recording and reproducing operations with respect to media ina media cartridge 64 loaded into the drive. The drives 60 are preferablymagnetic tape drives, one representative example being the Mammothfamily of magnetic tape drives marketed by Exabyte Corporation. Greateror lesser numbers of cartridge magazines 52 and drive carrier modules 56(and thus drives 60) can be utilized in other embodiments of libraries,e.g., libraries built to different scales.

The cartridge magazines 52 define cells, each cell potentially having amedia cartridge 64 stored therein. For simplification, FIG. 2illustrates each of the cartridge magazines 52 as having only two mediacartridges 64 stored therein, although in the illustrated embodimenteach of the cartridge magazines 52 has cells for as many as tendifferent media cartridges 64. Neither the number nor nature of themedia cartridges 64 is critical to the present invention. The number ofcells formed in the cartridge magazines 52 can vary. Moreover, thecartridge library 20 is built so the choice of drives 60 included in thedrive carrier modules 56 is appropriate for the media cartridge type(e.g., appropriate for the media size and media format of the mediacontained in the cartridge). As used herein, the term “cartridge” has aninterchangeable meaning with cassette, and other units of media storage.

The control compartment 58 generally includes an auxiliary cartridgemagazine 70; a power supply 72; a fan 74; and several circuit boards(represented by circuit board 76). The auxiliary cartridge magazine 70is secured to a vertical wall 78 of the library frame in a mannerwhereby a reference edge of media cartridges 64 contained therein are inthe same plane with a media cartridge 64 discharged from any of thedrives 60, one such discharged media cartridge 64 being shown in FIG. 2.

Transport Actuator and Guide Region

Also within the library frame is a transport actuator and guide region90 which extends essentially across the entire width of cartridgelibrary 20. As described subsequently in more detail, the transportactuator and guide region 90 includes a cartridge transport assembly 92(also known by several other names such as the transport device, thepicker robot, or simply as the picker). The cartridge transport assembly92 transports media cartridges between several locations withincartridge library 20 (e.g., compartments or modules), such as thecartridge magazines 52, the entry/exit port module 54, the drive carriermodules 56, and the auxiliary cartridge magazine 70. To this end, thecartridge transport assembly 92 has a pair of picker fingers 94 forselectively engaging and disengaging a media cartridge. The pickerfingers 94 particularly engage respective changer notches 96 provided inthe media cartridge 64 (see, e.g., FIG. 9-3). Moreover, the cartridgetransport assembly 92 rotates about an axis 100 (i.e., the axis ofrotation of cartridge transport assembly 92), as indicated by arrow 102in FIG. 2. The axis 100 of rotation of cartridge transport assembly 92is parallel to the Z axis of FIG. 2 (i.e., out of the plane of the sheetof FIG. 2).

The transport actuator and guide region 90 thus serves to divide thecartridge library 20 into a library front section and a library rearsection. The entry/exit port module 54 and the magazine cavity 50(typically with the cartridge magazines 52 inserted therein) are in thelibrary front section, e.g., between transport actuator and guide region90 and the frame front wall 22. The drive carrier modules 56 and thecontrol compartment 58, including the auxiliary cartridge magazine 70,are in the library rear section, e.g., between transport actuator andguide region 90 and frame back wall 24.

FIG. 2 shows the cartridge transport assembly 92 rotated to a firsttransport position. In the first transport position the picker fingers94 are oriented toward the frame front wall 22. Thus, in the firsttransport position a barcode reader 502 mounted in the cartridgetransport assembly 92 sees the library front section as depicted in FIG.3, including cartridge magazines 52 and entry/exit port module 54. Inthe second transport position, on the other hand, the barcode reader 502in the cartridge transport assembly 92 sees the library rear section asdepicted in FIG. 4, including the drive carrier modules 56 and auxiliarycartridge magazine 70.

The transport actuator and guide region 90 is substantially located inor above a horizontal tray 110. The tray 110 is mounted above libraryfloor 46. The tray 110 has vertically upturned side and rear edges. Thecartridge transport assembly 92 reciprocates across the width ofcartridge library 20 in the transport actuator and guide region 90,e.g., in the Y direction in FIG. 2. The reciprocation occurs along aguideway for the cartridge transport assembly 92, with the guidewaytaking the form of helically threaded shaft 114. The threaded shaft 114extends across the width of tray 110 and has its opposing ends receivedin bearings situated in the opposing upturned side edges of tray 110.Thus, threaded shaft 114 extends in a direction parallel to the framefront wall 22 and the frame back wall 24. The right end of threadedshaft 114 has a gear mounted thereon, the gear being part of a gearingassembly 116 through which motor 118 ultimately rotates threaded shaft114.

Similarly, the rotation of cartridge transport assembly 92 between itsfirst transport position and its second transport position is effectedby an actuator in the form of a shaft 124 of polygon cross section. Inthe illustrated example, shaft 124 is a hexagonal shaft (e.g., a shafthaving a hexagonal cross section). The hexagonal shaft 124 extendsacross the width of tray 110 and has its opposing ends received inbearings situated in the opposing upturned side edges of tray 110. Theright end of hexagonal shaft 124 has a gear mounted thereon, the gearbeing part of a gearing assembly 126 through which motor 128 ultimatelyrotates hexagonal shaft 124. Both motor 118 and gearing assembly 128 aremounted within tray 110 on the upturned right edges thereof, and areconnected by unillustrated cables to the circuit board 76.

FIG. 5-1 shows cartridge transport assembly 92 in its second position(e.g., with its picker fingers 94 oriented toward the library rearsection of cartridge library 20). In addition, FIG. 5-1 shows a carriageor mounting block 140 upon which cartridge transport assembly 92 isrotatably mounted. On its front end, the mounting block 140 has a sensortrip finger 142 depending therefrom which serves to interrupt sensorssuch as position sensors 144 and 146 mounted on library floor 46 (seeFIG. 2).

The mounting block 140 has bores 150 and 152 formed therein along the Yaxis, and a gearing cavity 154 formed in communication with bore 150.Retained in bore 150 by an unillustrated retention member is a hollowcylindrical gear 160. The hollow cylindrical gear 160 has an internalaperture shaped and sized so that hexagonal shaft 124 snuggly extendstherethrough. An external circumference of cylindrical gear 160 isthreaded to engage ring gear 162. An interior of ring gear 162 mates oris keyed with a vertical axle or shaft 170. Shaft 170 is co-linear withaxis 100 of rotation of cartridge transport assembly 92. Shaft 170extends through unillustrated bearings retained in mounting block 140.Moreover, shaft 170 is surmounted by a truncated circular cap 172 towhich cartridge transport assembly 92 is mounted via unillustratedfasteners (see FIG. 5-2). The bore 150 internally receives anunillustrated member which in turn has an aperture counterthreaded toreceive threaded shaft 114. Retention members are provided at both endsof the counterthreaded member to secure the counterthreaded memberwithin mounting block 140.

Ribbon Cable Routing

The cartridge transport assembly 92 carries an electronic device, suchas a barcode reader assembly 180. Power and electrical signals arecarried from circuit board 76 to barcode reader assembly 180 by aflexible ribbon cable 182. As shown in FIG. 2, the ribbon cable 182travels from circuit board 76 toward tray 110, and is retained on theupturned rear edge of tray 110 by clips 184 and 186. Clip 184 affixesribbon cable 182 to the rear edge of tray 110 near the left side ofcartridge library 20; clip 186 affixes the ribbon cable 182 to the rearedge of tray 110 near the center of cartridge library 20 in the widthdimension. Moreover, at clip 186 the ribbon cable 182 has an essentiallyU-shaped bend, and then travels toward mounting block 140.

In mounting block 140 the ribbon cable 182 extends through a chamber 188prior to traveling to cartridge transport assembly 92. FIG. 5-2 showschamber 188 without the ribbon cable 182. The chamber 188 is essentiallycylindrical and concentric with axis 100 of rotation of cartridgetransport assembly 92, and thus concentric with respect to shaft 170.The chamber 188 has a circumferential aperture 190 through which theribbon cable 182 enters chamber 188. The circumferential aperture 190 iselongated in a direction parallel to axis 100 of rotation of cartridgetransport assembly 92. The mounting block 140 has a bulbous protrusion192 proximate the circumferential aperture 190, e.g., at an edge ofcircumferential aperture 190 as shown in FIG. 5-2.

FIG. 5-3 resembles FIG. 5-2, but further shows the ribbon cable 182within chamber 188. FIG. 5-3 also shows, as does FIG. 5-4 in moredetail, how the ribbon cable 182 is bent upon itself to form a ribboncable segment 194 which travels substantially in the Z direction uptoward the cartridge transport assembly 92. Thus, ribbon cable 182 exitschamber 188 in a direction parallel to axis 100 of rotation of cartridgetransport assembly 92. In other words, ribbon cable 182 exits chamber188 in a direction parallel to an axis about which chamber 188 iscoiled. Further, FIG. 5-3 illustrates a clip 196 which sandwiches ribboncable 182 between itself and the bulbous protrusion 192, therebyrestraining movement of ribbon cable 182 at bulbous protrusion 192.

As evident from FIG. 5-3, in chamber 188 the ribbon cable 182 is carriedin a variable coiled configuration to accommodate rotation of the robot.By “variable coiled configuration” is meant that in chamber 188 theribbon cable 182 has a first degree of coiling when cartridge transportassembly 92 rotates to its first position, and a second degree ofcoiling when cartridge transport assembly 92 rotates to its secondposition. In the first position of cartridge transport assembly 92 (atwhich cartridge transport assembly 92 faces the library front section),the first degree of coiling of ribbon cable 182 within chamber 188 is4.0 coils of ribbon cable 182 as shown in FIG. 5—5. In the secondposition of cartridge transport assembly 92 (at which cartridgetransport assembly 92 faces the library rear section), the second degreeof coiling of ribbon cable 182 within chamber 188 is 3.5 coils of ribboncable 182 as shown in FIG. 5-6.

Cartridge Magazine

FIG. 6 shows the frame front wall 22 of cartridge library 20, with door30 open. Thus, in contrast to FIG. 1, in FIG. 6 the cartridge magazines52 are visible. Each of the cartridge magazines 52 has an ovaldepression 200 formed in a front surface thereof. Opposite major edgesof the oval depression 200 are bridged by a vertically extending handle202.

FIG. 7-1 shows a cartridge magazine 52 according to one illustrative,nonlimiting example embodiment of the invention. The cartridge magazine52 has a magazine lid 210 and a magazine body 212. FIG. 7-2 showsmagazine lid 210 detached from magazine body 212. FIG. 7-3 showsmagazine body 212 without magazine lid 210. The magazine lid 210 hashinge-forming projections 220 formed on a top edge thereof. Thehinge-forming projections 220 mate with corresponding apertures 222formed in magazine body 212, in the manner shown in FIG. 7-5. Inaddition, magazine lid 210 has lid closing projections 230 formed on itsfront edge. The lid closing projections 230 engage corresponding ramps232 formed on the inside of magazine body 212.

The magazine body 212 has magazine retention ramps 240 formed on its topsurface (see FIG. 7-3). The magazine retention ramps 240 serve to retainthe cartridge magazine 52 in magazine cavity 50. The magazine cavity 50has unillustrated ball-like detents which are biased to bear downward onmagazine retention ramps 240. With exertion of a sufficient force towithdraw the cartridge magazine 52 from magazine cavity 50, the downwardbiasing of the ball-like detents is overcome to permit retrieval of thecartridge magazine 52. The downward biasing of the ball-like detents isovercome to permit retrieval of the cartridge magazine 52 from magazinecavity 50.

The magazine body 212 also has magazine alignment grooves 250 formed onits bottom surface (see FIG. 7-4). The magazine alignment grooves 250slide over corresponding guide ramps formed on a bottom wall whichdefines magazine cavity 50.

FIG. 7-4 also shows the cartridge-accommodating cells 260 of cartridgemagazine 52. For the particular cartridge magazine 52 illustrated, thecartridge-accommodating cells 260 are at least partially defined by ribs262. In the illustrated embodiment, a cartridge magazine 52 has six suchribs 262 for delineating seven cartridge accommodating cells 260. Aspreviously mentioned, the present invention is not to be limited by thecartridge capacity of the cartridge magazine 52, as a greater or lessernumber of ribs can be utilized.

Further details of cartridge magazine 52 can be seen with reference toU.S. Design patent application Ser. No. 29/132,407, entitled “CARTRIDGEMAGAZINE”, which is incorporated herein by reference.

Over Insertion Protection for Cartridges in Magazines

As understood from the foregoing, when door 30 is open the cartridgemagazines 52 can be inserted into magazine cavity 50. The cartridgemagazines 52 have cells 260 for accommodating the media cartridges 64.As situated in the cartridge magazine 52, a reference surface orreference edge of the media cartridges 64 is oriented toward thetransport actuator and guide region 90, e.g., toward cartridge transportassembly 92. As used herein, reference surface or reference edge of amedia cartridge 64 is an edge of the cartridge which either bears abarcode or other cartridge-distinguishing indicia, or which constitutesa lid of the cartridge which is opened upon insertion of the cartridgeinto one of the drives 60.

There is the possibility that, if left unrestrained, the inertiaexperienced by a media cartridge 64 when its cartridge magazine 52 isinserted into magazine cavity 50 may cause the reference edge of thecartridge to protrude too far toward cartridge transport assembly 92.That is, a leading or reference edge of a media cartridge 64 in one ofthe cartridge-accommodating cells 260 may, upon insertion of thecartridge magazine 52 into the magazine cavity 50, be jarred orotherwise cajoled so that the media cartridge 64 is no longer preciselylocated in its cell 260, but rather protrudes beyond the normal storageposition. Protrusion of the leading or reference edge of a mediacartridge 64 in such manner is problematic, as it can not onlyjeopardize successful engagement and release of the protruding cartridgeby cartridge transport assembly 92, but interfere with the operation ofcartridge transport assembly 92 generally (e.g., when attempting to pickor place other cartridges).

The possibility of cartridge over-insertion as above described iscountered in accordance with an aspect of the present invention. Inparticular, the present invention includes in one of its aspects acartridge restraint assembly 300 which, upon movement of the librarydoor 30 from its door closed position to its door open position,responsively moves into a cartridge restraint position to prevent overpositioning of a media cartridge 64 situated in a cartridge magazine 52.

The structure and operation of cartridge restraint assembly 300 isunderstood with reference to FIG. 8-1 through FIG. 8-3, all of which areleft side views of a library front section with library cover 26removed. The cartridge restraint assembly 300 comprises a pivoting lever302 situated at the front left side of cartridge library 20. Thepivoting lever 302 is pivotally attached to the library frame at a pivotpoint 304, the pivot point 304 having a horizontal axis. At its top, thepivoting lever 302 has a visor 310 formed thereon. As shown in FIG. 2,visor 310 extends across the top of the portion of the library frontsection over magazine cavity 50, e.g., over the two cartridge magazines52. At its right edge, visor 310 is bend downwardly to form a tab 312.The tab 312 is pivotally attached at pivot point 314 to a frame wall316. The frame wall 316 delineates the magazine cavity 50 from a spaceoccupied by entry/exit port module 54. The pivot point 314 is alignedwith pivot point 304.

The visor 310 has a leading edge 320. When the cartridge restraintassembly 300 is in the cartridge restraint position shown in FIG. 8-2and FIG. 8-3, the visor leading edge 320 obstructs travel of a mediacartridge 64 past a cartridge insertion limit position (e.g., past thenormal storage position of a media cartridge 64 in its cartridgeaccommodating cell 260).

The library door 30 is pivotally attached to the library frame at doorpivot point 330. Further, on its lower left bottom edge, door 30 has aninverted L-shaped bracket 332 extending rearwardly therefrom. At itsdistal end, bracket 332 carries a cam follower 334. The cam follower 334can be formed using a suitable lubricated plastic, e.g, Delrin.

As explained below, the pivoting lever 302 is biased to its cartridgerestraining position (shown in FIG. 8-2 and FIG. 8-3) by biasing spring340. The biasing spring 340 has a first end connected to a vertical wallof the library frame, and a second end connected to pivoting lever 302.However, when the door 30 is closed, the biasing force exerted bybiasing spring 340 is overcome, whereupon the pivoting lever 302 assumesits erect, non-restraining position (e.g., the pivoting lever 302 isessentially perpendicular to the library floor in the manner depicted inFIG. 8-1).

On its front lower edge, the pivoting lever 302 has cam surface 350formed thereon. The cam surface 350 is primarily comprised of twosegments. As illustrated in FIG. 8-1, the first segment of cam surface350 is viewed as being ramped or inclined when pivoting lever 302 is inits erect (non-restraining) position. The second segment of cam surface350 is viewed as vertical when pivoting lever 302 is in its erect(nonrestraining) position.

As shown in FIG. 8-1, when door 30 is in its closed position, the camfollower 334 bears only against a lowermost point of pivoting lever 302.This point is below door pivot 330 and thus the fully extended springacts to help hold door 30 in its closed position. Pivoting lever 302assumes its erect or non-restraining position when door 30 is closed.

FIG. 8-2 shows the door 30 in a partially opened position, e.g.,pivoting about point 330. The pivoting of door 30 about door pivot point330 causes cam follower 334 to follow the cam surface 350, therebyallowing biasing spring 340 to apply force to pivoting lever 302 tocause pivoting lever 302 to pivot about pivot point 304. The pivotinglever 302 thus pivots about its pivot point 304 to the cartridgerestraint position shown in FIG. 8-2. In the cartridge restraintposition shown in FIG. 8-2, the visor 310 (preferably being integralwith or at least connected to pivoting lever 302) has also pivoted aboutpivot point 304, so that leading edge 320 of visor 310 restrains themedia cartridges 64 in cartridge magazine 52 from protruding beyondtheir normal storage position in their respectivecartridge-accommodating cells 260. Thus, the leading edge 320 of visor310 precludes over insertion of the media cartridges 64 in cartridgemagazine 52, so that no improperly protruding media cartridge 64 willinterfere with operation of cartridge transport assembly 92 or otherwisepresent a problem.

FIG. 8-3 shows door 30 in a fully opened position, at which time biasingspring 340 still has some exertion on pivoting lever 302, so thatpivoting lever 302 remains in its cartridge restraint position.

Thus, pivoting lever 302 has cam surface 350 formed thereon, and door 30has a cam follower 334 which contacts cam surface 350 during a least aportion of one of a door opening and a door closing operation. When door30 is in the door closed position, a contact point of cam follower 334and cam surface 350 is below door pivot point 330.

The above-describe action is essentially reversed upon closing of door30. As understood from the foregoing, the visor 310 of cartridgerestraint assembly 300 is pivoted back away from cartridge magazines 52when the door 30 is closed. In pivoting away to no longer form a stopfor media cartridges 64 in cartridge magazine 52, the visor 310 is alsoout of the way of cartridge transport assembly 92.

Entry/Exit Port

As previously indicated, the entry/exit port module 54 is on the rightside of the cartridge library 20 in the library front portion. Theentry/exit port module 54 permits a user to insert or withdraw a singlemedia cartridge 64 from cartridge library 20 while the cartridge library20 is in operation, without having to open library door 30. Access toentry/exit port module 54 is gained by pivoting the entry/exit portcover 32 from its closed position (shown in FIG. 9-1) to its openposition (shown in FIG. 9-2).

As shown (for example) in FIG. 9-1, the entry/exit port module 54 has aentry/exit port housing 400 which attaches to frame wall 316 (see FIG.2) via fasteners which extend through mounting apertures 402. Theentry/exit port cover 32 is pivotally attached to entry/exit porthousing 400 at pivot point 404. The entry/exit port cover 32 is biasedin its closed position by a biasing spring 405 (see FIG. 9-3). When open(as shown in FIG. 9-2), entry/exit port cover 32 exposes a entry/exitport caddy 410.

The entry/exit port housing 400 defines an essentially hollowrectangular volume. An interior cavity 406 in entry/exit port housing400 (see FIG. 9-5) slidingly receives the entry/exit port caddy 410, asunderstood from FIG. 9-4 and FIG. 9-5, for example. It is the entry/exitport caddy 410 which actually contains the media cartridge 64 which isto be inserted into, or withdrawn from, cartridge library 20 via theentry/exit port module 54.

To accommodate the media cartridge 64, the entry/exit port caddy 410 hasthe shape of an essentially hollow rectangular volume, but sized smallerthan the entry/exit port housing 400 in order to slide into the interiorcavity 406 formed in entry/exit port housing 400. The interior cavityformed in entry/exit port caddy 410 is sized to accommodate theparticular size and type of media cartridge 64 being handled by thecartridge library 20. To guide insertion of the entry/exit port caddy410 into entry/exit port housing 400, the entry/exit port caddy 410 isprovided with an alignment key 412 on its top surface (see FIG. 9-4). Onan edge opposite its cartridge-receiving mouth, the entry/exit portcaddy 410 has an enlarged caddy spine 420. A U-shaped caddy grip handle422 is provided on the caddy spine 420.

As in the case with media cartridges 64 in the cartridge magazines 52,there is the possibility that, if left unrestrained, a cartridgeoverinsertion could occur in entry/exit port module 54. That is, a mediacartridge 64 held in the entry/exit port caddy 410 of entry/exit portmodule 54 could protrude too far into the interior of the cartridgelibrary 20, e.g., too far toward transport actuator and guide region 90.Such cartridge protrusion could interfere with the workings of cartridgelibrary 20, and with operation of cartridge transport assembly 92 inparticular.

To avoid against cartridge overinsertion at the entry/exit port module54, the entry/exit port housing 400 has an entry/exit port cartridgeoverinsertion protection assembly 450. The entry/exit port cartridgeoverinsertion protection assembly 450 is mounted on the top ofentry/exit port housing 400. The entry/exit port cartridge overinsertionprotection assembly 450 includes a pivoting cartridge limit finger 452which, when in its overinsertion protection position (shown, e.g., inFIG. 9-3 and FIG. 9-6), provides a stop or limit surface for a referenceedge of a media cartridge 64 in entry/exit port caddy 410.

The cartridge limit finger 452 is pivotally attached to entry/exit porthousing 400 at finger pivot point 456. The cartridge limit finger 452 isbiased to its overinsertion protection position by entry/exit portfinger biasing spring 460. One leg of biasing spring 460 contacts finger452; the other leg of biasing spring 460 is grounded against housing400, and particularly against a tab 464 provided on housing 400 to keepfinger 452 biased to the overinsertion protection position (see FIG.9-3). The other end 465 of spring 460 bears against the finger 452 asshown, e.g., in FIG. 9-4 and FIG. 9-7.

The cartridge limit finger 452 thus serves as a cartridge restraintmember situated at the entry/exit port to prevent overpositioning of amedia cartridge 64 inserted into the entry/exit port. As explainedbelow, the cartridge restraint member in the form of cartridge limitfinger 452 is repositionable by cartridge transport assembly 92 when thecartridge transport assembly 92 seeks to obtain or deposit a cartridgeat entry/exit port module 54. In particular, the cartridge limit finger452 is pivoted away from a cartridge restraint position (also referredto as the overinsertion protection position), by the cartridge transportassembly 92 when cartridge transport assembly 92 seeks to obtain ordeposit a media cartridge 64 at entry/exit port module 54.

In the above regard, FIG. 9-6 shows, from above, the cartridge transportassembly 92 approaching the entry/exit port module 54 (e.g., linearlyreciprocating from the right to the left in FIG. 9-6 in the directiondepicted by arrow 466). At the time shown in FIG. 9-6, the cartridgelimit finger 452 is in its cartridge restraint position (overinsertionprotection position). That is, the cartridge limit finger 452 is biasedto extend essentially perpendicularly to frame front wall 22 (e.g.,parallel to frame side wall 41). As such, cartridge limit finger 452forms a limit stop against which the reference edge of media cartridge64 cannot protrude.

As the cartridge transport assembly 92 moves further leftwardly in thedirection depicted by arrow 466, the leading side edge of cartridgetransport assembly 92 eventually contacts cartridge limit finger 452,and pivots cartridge limit finger 452 about its pivot point. Uponpivoting of cartridge limit finger 452 away from media cartridge 64 tothe finger clearance position (shown from the top in FIG. 9-7 andperspectively in FIG. 9-8), access to the media cartridge 64 inentry/exit port caddy 410 of entry/exit port module 54 is unobstructedby cartridge limit finger 452. When the cartridge limit finger 452 hasbeen displaced (e.g., pivoted) to its finger clearance position as shownin FIG. 9-7 and FIG. 9-8, the cartridge transport assembly 92 can engagea media cartridge 64 contained in entry/exit port caddy 410.Alternatively, if there is no media cartridge 64 in entry/exit portcaddy 410 but instead a media cartridge 64 held by cartridge transportassembly 92, the cartridge transport assembly 92 can deposit the mediacartridge 64 in entry/exit port caddy 410.

When the cartridge transport assembly 92 leaves the area of entry/exitport module 54, the cartridge transport assembly 92 no longer bearsagainst cartridge limit finger 452. Without cartridge transport assembly92 overcoming the biasing force of entry/exit port finger biasing spring460, the cartridge limit finger 452 returns to its cartridge restrainingposition as shown in FIG. 9-6, for example.

Barcode Reader Assembly

The barcode reader assembly 180, seen mounted in cartridge transportassembly 92 in FIG. 5-1, is further illustrated in FIG. 10-1 throughFIG. 10-4. FIG. 10-1 is a top cross sectional view of cartridgetransport assembly 92, and particularly shows the location of barcodereader assembly 180 within cartridge transport assembly 92. Alsoincidentally shown in FIG. 10-1 is the top one of the picker fingers 94,in a retracted position (e.g., internally contained within cartridgetransport assembly 92). FIG. 10-1 also shows how a beam 500 is emittedfrom barcode reader 502 contained within barcode reader assembly 180.Beam 500 is also illustrated in FIG. 10-2, which provides a perspectiveview of barcode reader assembly 180.

The barcode reader 502 contained in barcode reader assembly 180 is aconventional barcode reader, such as a barcode reader supplied by SymbolTechnologies, for example. Such barcode readers need to be slightlyoffset so that the beam (e.g., laser) reflection is not direct (sincedirect reflection would provide too much noise). The barcode reader 502is supplied power and electrical signals by the ribbon cable 182,previously discussed.

FIG. 10-3 and FIG. 10-4 show structural details of barcode readerassembly 180. The barcode reader 502 is situated in a housing whichcomprises barcode assembly housing cover 506 and a barcode assemblyhousing bottom 508. The barcode assembly housing bottom 508 has amidportion thereof which is deformed to provide an inclined ramp 510. Abottom plate 512 is secured to barcode assembly housing bottom 508 toprovide uniform flatness of the barcode assembly housing bottom 508beneath bottom plate 510.

The bottom plate 512 in barcode assembly housing bottom 508 serves as asupport for a reflector surface 520. The reflector surface 520 can be,for example, a mirrored or other suitably polished surface. Thereflector surface 520 is positioned on bottom plate 512 so that, afterbeam 500 from barcode reader 502 strikes reflector surface 520, the beamis reflected and subsequently passes through a transparent lens 522.

As further shown by FIG. 10-3 and FIG. 10-4, the barcode reader 502 issupported by barcode reader platform 530. The barcode reader platform530 includes both a front portion 532 and a rear portion 534. Thebarcode reader platform front portion 532 has, on opposite side edgesthereof, opposing orthogonally oriented ears 536. The ears 536 havepivot pins 538 laternally extending therefrom. The pivot pins 538 areretained by corresponding mating mounting grooves 540 formed in barcodeassembly housing bottom 508 (see FIG. 10-4). The pivot pins 538 thusserve as a pivoting axis for barcode reader platform front portion 532,and thus for barcode reader 502.

The barcode reader platform rear portion 534 has an aperture which isinternally counter threaded to receive a threaded shaft of an adjustmentscrew 550. The shaft of the adjustment screw 550 also extends through anaperture formed in a well 552. The well 552 is formed in a rear centralportion of barcode assembly housing bottom 508. A head of adjustmentscrew 550 retains a washer 554 beneath the aperture in well 552; a nut556 is tightened on the shaft of adjustment screw 550 above the aperturein well 554.

Since the aperture in barcode reader platform rear portion 534 iscounter threaded relative to adjustment screw 550, manipulation ofadjustment screw 550 causes the barcode reader platform rear portion 534to rise or fall, in accordance with the direction of screw manipulation.Thus, manipulation of adjustment screw 550 serves to adjust the angle ofinclination of barcode reader platform 530. As the position of barcodereader platform rear portion 534 changes, the pivoting angle of barcodereader platform 530 about its pivot pins 538 is also changed, therebyaffecting the angle of incidence of beam 500 on reflector surface 520.

Intermediate barcode reader platform front portion 532 and barcodereader platform rear portion 534 is a hinge section 560 of barcodereader platform 530. In the illustrated embodiment, the hinge section560 is implemented by the section 560 having less thickness than eitherbarcode reader platform front portion 532 or barcode reader platformrear portion 534. The hinge section 560 thus provides a flexure. Theflexure afforded by living hinge section 560 provides a biasing forcethat takes play out of the system. The flexure of living hinge section560 provides a tensioning for barcode reader platform 530, eliminatingany influence occasioned by backlash from adjustment screw 550. Otherways of accomplishing backlash counteraction structures are alsopossible and are within the scope of the present invention. For example,a biasing spring can be provided to bias the barcode reader platformrear portion 534 to counteract backlash caused by movement of adjustmentscrew 550.

While the invention has been described in connection with what ispresently considered to be the most practical and preferred embodiment,it is to be understood that the invention is not to be limited to thedisclosed embodiment, but on the contrary, is intended to cover variousmodifications and equivalent arrangements included within the spirit andscope of the appended claims.

What is claimed is:
 1. A robot assembly comprising: a robot whichrotates about an axis from a first position to a second position, therobot having an electronic device carried thereon; a ribbon cable whichsupplies at least one of power and an electrical signal to theelectronic device; a mounting block upon which the robot is mounted, themounting block having a chamber wherein a portion of the ribbon cable iscarried in a variable coiled configuration to accommodate rotation ofthe robot.
 2. The apparatus of claim 1, wherein the mounting block is acarriage which linearly translates with the robot.
 3. The apparatus ofclaim 1, wherein the variable coiled configuration facilitates thecabling having a first degree of coiling when the robot rotates to itsfirst position and a second degree of coiling when the robot rotates toits second position.
 4. The apparatus of claim 3, wherein the firstdegree of coiling is 4 coils of the ribbon cable and the second degreeof coiling is 3.5 coils of the ribbon cable.
 5. The apparatus of claim1, wherein the chamber is concentric with the axis of rotation of therobot.
 6. The apparatus of claim 1, wherein the chamber is cylindricaland concentric with the axis of rotation of the robot.
 7. The apparatusof claim 1, wherein the chamber is cylindrical and has a circumferentialaperture through which the ribbon cable enters the chamber.
 8. Theapparatus of claim 7, wherein the aperture is elongated in a directionparallel to the axis of rotation of the robot.
 9. The apparatus of claim7, wherein the mounting block has a bulbous protrusion proximate theaperture, and wherein a clip secures a portion of the ribbon cable tothe mounting block at the bulbous protrusion.
 10. The apparatus of claim1, wherein the ribbon cable exits the chamber in a direction parallel tothe axis of rotation of the robot.
 11. The apparatus of claim 1, whereinthe ribbon cable exits the chamber in a direction parallel to an axisabout which the ribbon cable is coiled.
 12. The apparatus of claim 1,wherein the mounting block includes a gear for translating rotation of ashaft extending through the mounting block into rotational motion of therobot.
 13. A cartridge picker for a cartridge library, the pickercomprising: a picker robot having picker fingers for selecting engagingand disengaging a media cartridge, the picker robot having an electronicdevice carried thereon; a ribbon cable which supplies at least one ofpower and an electrical signal to the electronic device; a mountingblock upon which the picker robot is rotatably mounted so that thepicker robot rotates about an axis from a first position to a secondposition, the mounting block having a chamber wherein a portion of theribbon cable is carried in a variable coiled configuration toaccommodate rotation of the robot.
 14. The apparatus of claim 13,wherein the mounting block is a carriage which linearly translates withthe picker robot.
 15. The apparatus of claim 13, wherein the variablecoiled configuration facilitates the cabling having a first degree ofcoiling when the picker robot rotates to its first position and a seconddegree of coiling when the picker robot rotates to its second position.16. The apparatus of claim 15, wherein the first degree of coiling is 4coils of the ribbon cable and the second degree of coiling is 3.5 coilsof the ribbon cable.
 17. The apparatus of claim 13, wherein the chamberis concentric with the axis of rotation of the picker robot.
 18. Theapparatus of claim 13, wherein the chamber is cylindrical and concentricwith the axis of rotation of the picker robot.
 19. The apparatus ofclaim 13, wherein the chamber is cylindrical and has a circumferentialaperture through which the ribbon cable enters the chamber.
 20. Theapparatus of claim 19, wherein the aperture is elongated in a directionparallel to the axis of rotation of the picker robot.
 21. The apparatusof claim 20, wherein the mounting block has a bulbous protrusionproximate the aperture, and wherein a clip secures a portion of theribbon cable to the mounting block at the bulbous protrusion.
 22. Theapparatus of claim 13, wherein the ribbon cable exits the chamber in adirection parallel to the axis of rotation of the picker robot.
 23. Theapparatus of claim 13, wherein the ribbon cable exits the chamber in adirection parallel to an axis about which the ribbon cable is coiled.24. The apparatus of claim 13, wherein the mounting block includes agear for translating rotation of a shaft extending through the mountingblock into rotational motion of the picker robot.
 25. An automated medialibrary comprising: a library frame; a drive which performs at least oneof recording and reproducing operations with respect to media in a mediacartridge loaded into the drive; a cartridge magazine situated in thelibrary frame and which accommodates plural media cartridges; a pickerrobot which transports a cartridge between the drive and the cartridgemagazine, a picker robot having picker fingers for selecting engagingand disengaging a media cartridge, the picker robot having an electronicdevice carried thereon; a ribbon cable which supplies at least one ofpower and an electrical signal to the electronic device; a mountingblock upon which the picker robot is rotatably mounted so that thepicker robot rotates about an axis from a first position to a secondposition, the mounting block having a chamber wherein a portion of theribbon cable is carried in a variable coiled configuration toaccommodate rotation of the robot.
 26. The apparatus of claim 25,wherein the mounting block is a carriage which linearly translates withthe picker robot.
 27. The apparatus of claim 25, wherein the variablecoiled configuration facilitates the cabling having a first degree ofcoiling when the picker robot rotates to its first position and a seconddegree of coiling when the picker robot rotates to its second position.28. The apparatus of claim 25, wherein the first degree of coiling is 4coils of the ribbon cable and the second degree of coiling is 3.5 coilsof the ribbon cable.
 29. The apparatus of claim 25, wherein the chamberis concentric with the axis of rotation of the picker robot.
 30. Theapparatus of claim 25, wherein the chamber is cylindrical and concentricwith the axis of rotation of the picker robot.
 31. The apparatus ofclaim 25, wherein the chamber is cylindrical and has a circumferentialaperture through which the ribbon cable enters the chamber.
 32. Theapparatus of claim 31, wherein the aperture is elongated in a directionparallel to the axis of rotation of the picker robot.
 33. The apparatusof claim 32, wherein the mounting block has a bulbous protrusionproximate the aperture, and wherein a clip secures a portion of theribbon cable to the mounting block at the bulbous protrusion.
 34. Theapparatus of claim 25, wherein the ribbon cable exits the chamber in adirection parallel to the axis of rotation of the picker robot.
 35. Theapparatus of claim 25, wherein the ribbon cable exits the chamber in adirection parallel to an axis about which the ribbon cable is coiled.36. The apparatus of claim 25, wherein the mounting block includes agear for translating rotation of a shaft extending through the mountingblock into rotational motion of the picker robot.